Reference : Local Lyapunov Functions for Consensus in Switching Nonlinear Systems
Scientific journals : Article
Physical, chemical, mathematical & earth Sciences : Mathematics
http://hdl.handle.net/10993/30763
Local Lyapunov Functions for Consensus in Switching Nonlinear Systems
English
Thunberg, Johan mailto [University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB) > >]
Goncalves, Jorge mailto [University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB) > >]
Xiaoming, Hu mailto []
11-Jan-2017
IEEE Transactions on Automatic Control
IEEE
Yes (verified by ORBilu)
0018-9286
Piscataway
NJ
[en] Consensus ; multi-agent systems ; nonlinear systems ; switched systems
[en] This note presents two theorems on asymptotic state consensus of continuous time nonlinear multi-agent systems. The agents reside in Rm and have switching interconnection topologies. Both the first theorem, formulated in terms of the states of individual agents, and the second theorem, formulated in terms of the pairwise states for pairs of agents, can be interpreted as variants of Lyapunov’s second method. The two theorems complement each other; the second provides stronger convergence results under weaker graph topology assumptions, whereas the first often can be applied in a wider context in terms of the structure of the right-hand sides of the systems. The second theorem also sheds some new light on well-known results for consensus of nonlinear systems where the right-hand sides of the agents’ dynamics are convex combinations of directions to neighboring agents. For such systems, instead of proving consensus by using the theory of contracting convex sets, a local quadratic Lyapunov function can be used.
Fonds National de la Recherche - FnR
http://hdl.handle.net/10993/30763
10.1109/TAC.2017.2652302
http://ieeexplore.ieee.org/abstract/document/7814278/
FnR ; FNR8864515 > Johan Thunberg > SCNMAS > Set Convergence in Nonlinear Multi-Agent Systems > 01/02/2015 > 31/01/2017 > 2014

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